Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our policies are low-level, i.e., we map the rotorcrafts' state directly to the motor outputs. The trained control policies are very …